// --------------------------------------------------------------------------------------------------------------------
// <copyright file="LinearTouchConfiguration.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------

namespace Test.Robotics.Manipulation.Metrics
{
    using System;
    using System.Collections.Generic;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Manipulation.Runtime;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Executes a single linear touch motion based.
    /// </summary>
    [DataContract]
    public class LinearTouchConfiguration
    {
        /// <summary>
        /// Gets or sets speed at which setpoint is moved in linear dimensions.
        /// </summary>
        [DataMember]
        public double LinearMaxSpeedInMetersPerSecond {get; set;}

        /// <summary>
        /// Gets or sets speed at which setpoint is moved in rotational dimensions.
        /// </summary>
        [DataMember]
        public double AngularMaxSpeedInRadiansPerSecond {get; set;}

        /// <summary>
        /// Gets or sets starting pose of the motion.
        /// </summary>
        [DataMember]
        public Pose StartPose {get; set;}
        
        /// <summary>
        /// Gets or sets target end pose of motion.
        /// </summary>
        [DataMember]
        public Pose EndPose {get; set;}

        /// <summary>
        /// Gets or sets the pose of the *surface* of the target where contact is expected to occur.
        /// </summary>
        [DataMember]
        public Pose TargetPose { get; set; }

        /// <summary>
        /// Gets or sets the force axes mask for computing force based metrics
        /// </summary>
        [DataMember]
        public Vector3 ForceAxesMask { get; set; }

        /// <summary>
        /// Gets or sets the position axes mask for computing position based metrics
        /// </summary>
        [DataMember]
        public Vector3 PositionAxesMask { get; set; }

        /// <summary>
        /// Gets or sets force threshold in newtons.
        /// </summary>
        [DataMember]
        public double ForceThresholdInNewtons {get; set;}

        /// <summary>
        /// Gets or sets a value indicating whether to apply threshold forces projected along the
        /// intantaneous direction of motion of TCP or to apply threshold to total forces sensed at TCP
        /// </summary>
        [DataMember]
        public bool MeasureForceAlongDirectionOfMotion {get; set;}
    }
}
